Atv31 Comm User Manual en

Altivar 31
User's manual
Communication variables
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Contents
General _____________________________________________________________________________________________________ 3
Communication bus monitoring __________________________________________________________________________________ 5
Supervision and control in LINE mode _____________________________________________________________________________ 6
Function compatibility _________________________________________________________________________________________ 10
DRIVECOM variables _________________________________________________________________________________________ 11
Control variables_____________________________________________________________________________________________ 14
Monitoring variables __________________________________________________________________________________________ 16
Identification variables ________________________________________________________________________________________ 22
Configuration and adjustment variables ___________________________________________________________________________ 23
Replacing an ATV28 with an ATV31 _____________________________________________________________________________ 51
Code index _________________________________________________________________________________________________ 52
NOTE
While every precaution has been taken in the preparation of this document, Schneider Electric SA assumes no liability
for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information
herein.
The products described in this document may be changed or modified at any time, either from a technical point of view
or in the way they are operated. Their description can in no way be considered contractual.
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General
The Altivar 31 can be connected directly to Modbus and CANopen buses by means of an RJ45 connector, which supports both protocols.
The communication function provides access to the drive’s configuration, adjustment, control and monitoring functions.
The "Communication variables" User's Manual defines the drive control processes and the drive variables which can be accessed by these
buses.
It supplements each of the following manuals:
• Modbus
• CANopen
These documents should be referred to for the hardware and software setup specific to each bus.
We also recommend consulting the Programming Manual for additional explanations (operation, factory settings, etc).
If the PowerSuite software workshop is used, consult the on-line help provided.
The communication variables are listed with:

• Their address •••• in decimal format for Modbus
• Their index and subindex address ••••/•• in hexadecimal format for CANopen
They are grouped into several different tables according to the following criteria:
• DRIVECOM variables
• control variables
• monitoring variables
• identification variables
• configuration and adjustment variables
Read/write
Whether the parameters have read and/or write access is indicated in the "Read/Write" column with the following codes:
• R: read only, drive stopped or running
• R/WS: read access when drive stopped or running and write access only when drive stopped
• R/W: read and write access when drive stopped or running
Authorized addresses
Only the addresses and values defined in this document can be used. Any other address or value must be considered to be
reserved and must never be written. Failure to observe this precaution may result in malfunctions.
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Control modes
Control and reference channels

The control and the reference may originate from different channels:
- the terminal block
- the built-in keypad (ATV31...A only)
- the remote display terminal
- Modbus
- CANopen
These channels are managed:

- either in priority mode for compatibility with the ATV28
- or in deterministic mode
The "Function access level (LAC)" and "Mixed mode (CHCF)" parameters are used to select the run mode.
Operation is described in detail in the Programming Manual ("Control menu" section).
Priority stops
In line mode, stop requests which can be activated by the terminals or by the remote display terminal always have priority:
Type of stop From Drivecom state Actions for restoring control of the Altivar using the fieldbus
reached
Fast stop LI2 to LI6 "Operation enabled" - Set the logic input assigned to the "fast stop" function to 1 (active
at 0)
DC injection stop LI2 to LI6 "Operation enabled" - Set the logic input assigned to the "injection stop" function to 0
(active at 1)
Freewheel stop LI2 to LI6 "Switch on disabled" - Set the logic input assigned to the "freewheel stop" function to 1
(active at 0)
- Perform the transitions required to return the drive to "run" status
3-wire control stop via LI1 "Switch on disabled" - Set the logic input assigned to STOP to 1 (active at 0)
STOP logic input (LI1) (3-wire control) - Perform the transitions required to return the drive to "run" status
Stop by the display terminal STOP key "Switch on disabled" - Release the Stop key
(1) - Perform the transitions required to return the drive to "run" status
(1)Unless the PSt parameter has been set to "NO"
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Communication bus monitoring
The drive behaviour in the event of loss of communication can be configured via the "SLL" parameter (page 47) for Modbus or the "COL"
parameter (page 47) for CANopen. This configuration is saved if the power supply is disconnected.
In its factory setting, loss of communication triggers a fault (COF for CANopen or SLF for Modbus) with freewheel stopping.
Bit 14 (NTO) of "Extended control word (CMI)" is also used to inhibit Modbus communication monitoring. This configuration is not
saved if the power supply is disconnected.
For safety reasons, inhibiting the communication fault should be restricted to the debug phase or to special applications.
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Supervision and control in LINE mode
DRIVECOM status chart
Key Enter the status

chart All states
DRIVECOM drive status
Drive status applied to ATV 0 13 Fault
ETA = 16#xxxx
Not ready to switch on Malfunction
"ATV terminal display"
ATV powered down reaction active
Transition
condition X ETA = 16#xx00 ETA = 16#xxxx
CMD = 16#xxxx Fault disappeared, 14
1 fault reset
CMD =16#0080 Malfunction
Switch on disabled ATV faulty
ATV locked 15
ETA = 16#xxx8
Disable voltage ETA = 16#xx40
CMD = 16#0000 "nSt" Disable voltage
or CMD = 16#0000
Disable
modification of or
voltage
9 a configuration Shutdown CMD = 16#0000 modification of
parameter CMD = 16#0006 2 7
or a configuration
(motor stopped) 12 parameter
Quick stop
or (motor stopped)
CMD = 16#0002
STOP key on or
display terminal STOP key on
Disable
or display terminal
Ready to switch on voltage
STOP at terminals 10CMD = 16#0000 or
ATV waiting
or STOP at terminals
ETA = 16#xx21
modification of
"nSt" a configuration
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Shutdown Switch on Shutdown parameter
CMD =16#0006 CMD = 16#0007 3 6
CMD = 16#0006 (motor stopped)
Switched on
ATV ready
3A
ETA = 16#xx23 Quick stop active
Enable Emergency stop
operation "nSt"
CMD = 16#xxxF ETA = 16#xx07
Enable Disable
operation 4 "rdY, dCb"
5 operation
CMD = 16#xxxF CMD = 16#0007
Operation enabled Quick stop
ATV running CMD = 16#000B
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ETA = 16#xx27
"rUn, rdY, ..."
Examples: Examples (default configuration):

ETA = 16#0627 : Normal stop or CMD = 16#000F : Forward operation
Forward operation, speed reached CMD = 16#080F : Reverse operation
ETA = 16#8627 : Reverse operation, speed reached CMD = 16#100F : Stop (configured by "Stt")
ETA = 16#0227 : Forward operation, ACC or DEC CMD = 16#200F : DC injection stop
ETA = 16#8227 : Reverse operation, ACC or DEC CMD = 16#400F : Fast stop
Any "Operation enabled" output except "Quick stop" = freewheel stop
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The Altivar control process using the communication bus conforms to the CANopen DS402 profile status chart compatible with the
DRIVECOM standard. Each state represents an aspect of the internal behaviour of the drive.
This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).
The drive status can be identified by the value of the status word (ETA W3201).
Not ready to switch on (Initialization):

Communication is being initialized.
Transient state invisible to the communication bus.
Switch on disabled (Configuration):

Initialization of the drive is complete.
The configuration and adjustment parameters can be modified.
If all or part of the configuration and settings are to be loaded, we recommend disabling the consistency check function during the transfer
(CMI W8504, bit 15 = 1). On completion of the transfer, the consistency check must be enabled (CMI W8504, bit 15 = 0).
The drive is locked.
Ready to switch on and Switched on (Drive initialized):

The configuration and adjustment parameters can be modified. In the "Switched on" state, modifying a configuration parameter returns the
drive to the "Switch on disabled" state.
The power stage of the drive is ready to operate, but voltage has not yet been applied to the output.
Operation enabled (Operational):

Only the adjustment parameters can be modified. Modifying a configuration parameter (motor stopped) returns the drive to the "Switch on
disabled" state.
The drive functions are activated and voltage is applied to the motor terminals.
Auto-tuning (tUn) requires an injection of current. The drive must therefore be in this state for this command.
Quick stop active (Emergency stop active):

Fast stop.
Restarting is only possible after the drive has changed to the "Switch on disabled" state.
Malfunction reaction active (Reaction on fault):

Transient state during which the drive performs an action appropriate to the type of fault.
The drive function is disabled.
Malfunction (Fault):
The drive is faulty.
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CMD control word (W8501)
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Enable Quick stop Disable voltage
Fault reset 0 0 0 Switch on
operation (active at 0) (active at 0)

(1) (1) (1) (1) (1) 0 0 0
(1)This bit action depends on the LAC "Access levels" parameter and the functions configured by the user.
For example, to use bit 15 to switch the ramp, simply configure LAC = L3 (Access to advanced functions and management of mixed
modes) and set the "Ramp switching rPS" configuration parameter to Cd15.
bit 7 bit 3 bit 2 bit 1 bit 0

Transition Typical value of CMD
Command Final state Enable Disable Switch
address Reset Quick stop (W8501)
operation voltage on
Ready to
Shut down 2, 6, 8 x x 1 1 0 16#0006
switch on
Switch on 3 Switched on x x 1 1 1 16#0007
Enable Operation
4 x 1 1 1 1 16#000F
operation enabled
Disable
5 Switched on x 0 1 1 1 16#0007
operation
Switch on
Disable voltage 7, 9, 10, 12 x x x 0 x 16#0000
disabled
Quick stop
11 16#000B
active
Quick stop x x 0 1 x or
Switch on 16#0002
7, 10
disabled
Switch on
Fault reset 15 0V1 x x x x 16#0080
disabled
x: State not significant

0 V 1: Change from 0 to 1
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ETA status word (W3201)

Switch on Quick stop 0 Operation Ready to switch
Alarm Malfunction Switched on
disabled active at 0 (1) enabled on

Forced local
Direction of Stop via STOP Reference Reference
0 0 mode 0
rotation key exceeded reached
(active at 0)
bit 6 bit 5 bit 3 bit 2 bit 1 bit 0 ETA (W3201)

State Switch on Operation Ready to masked by
Quick stop Malfunction Switched on 16#006F
disabled enabled switch on
16#0000
Not ready to switch on 0 x 0 0 0 0
16#0020
16#0040
Switch on disabled 1 x 0 0 0 0
16#0060
Ready to switch on 0 1 0 0 0 1 16#0021
Switched on 0 1 0 0 1 1 16#0023
Operation enabled 0 1 0 1 1 1 16#0027
16#0008
Malfunction 0 x 1 0 0 0
16#0028
Malfunction reaction 16#000F
0 x 1 1 1 1
active 16#002F
Quick stop active 0 0 0 1 1 1 16#0007
x: State not significant
(1)Bit 4 of the ETA status word corresponds to DRIVECOM’s "Voltage disabled".
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Function compatibility
Incompatible functions
The following functions will be inaccessible or deactivated in the cases described below:
Automatic restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
Flying restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
This function is locked if automatic injection on stopping is configured as DC (AdC = Ct).
Reverse
On the ATV31pppA range only, this function is locked if local control is active (tCC = LOC).
Function compatibility table

The choice of application functions may be limited by the number of I/O and by the fact that some functions are incompatible with one
another. Functions which are not listed in this table are fully compatible.
If there is an incompatibility between functions, the first function configured will prevent the remainder being configured.
To configure a function, first check that the incompatible functions are not assigned, especially "Preset speeds" and "Summing inputs" which
are assigned by default in the factory setting.
Management of limit switches
DC injection stop
Brake sequence
Summing inputs
Freewheel stop
Preset speeds
Jog operation
+/- speed (1)
PI regulator
Fast stop
Summing inputs p A p A
+/- speed (1) p p p p
Management of limit switches p
Preset speeds X p p A
PI regulator p p p p p p
Jog operation X p X p p
Brake sequence p p p
DC injection stop p A
Fast stop A
Freewheel stop X X
(1)Excluding special application with reference channel Fr2.
p Incompatible functions Compatible functions N/A
Priority functions (functions which cannot be active at the same time):

The function indicated by the arrow has priority over the
X A other.
Stop functions have priority over run commands.

Speed references via logic command have priority over analog references.
Logic and analog input application functions

Each of the functions can be assigned to one of the inputs.
A single input can activate several functions at the same time (reverse and 2nd ramp for example). The user must therefore ensure that
these functions can be used at the same time.
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DRIVECOM variables
Modbus CANopen Read/

Code Name/Description/Possible values
address address Write
8601 6040 CMDD R/W DRIVECOM control word
Identical to CMD (page 14).
bit 0: "Switch on": active at 1
bit 1: "Disable Voltage": active at 0
bit 2: "Quick Stop": active at 0
bit 3: "Enable Operation": active at 1
bits 4 to 6: Reserved: set to 0
bit 7: Fault reset: active on rising edge 0 -> 1
For "Access level" LAC (page 30) = L1 or L2:
bit 11 = 0: Forward direction command

bit 11 = 1: Reverse direction command
bit 12 = 0: No action
bit 12 = 1: Stop command depending on the Stt "Stop type" parameter
bit13 = 1: Injection stop command
bit14 = 1: Fast stop command
bit 15: Reserved: set to 0
For "Access level" LAC (page 30) = L3:
Factory assignments
bit 13: No action
bit 14: No action
bit 15: No action
These 5 bits can be assigned to functions.

For example, to use bit 15 to switch the ramp, simply set the "Ramp switching" rPS
configuration parameter (page 33) to Cd15.
8602 6042 LFRD R/W Speed reference via the bus (signed value)
DSP402: vl target velocity
DRIVECOM: Nominal speed value
Unit:
• 1 = 1 rpm if bit 9 of CMI (page 15) = 0
• 1 ≈ 0.018 Hz (resolution 32767 points = 600 Hz) if bit 9 of CMI = 1
8603 6041 ETAD R DRIVECOM status word
Identical to ETA (page 16).
bit 0: Ready to switch on
bit 1: Switched on
bit 2: Operation enabled
bit 3 = 0: No fault
bit 3 = 1: Malfunction, fault present (FAI)
bit 4: Voltage disabled
bit 5: Quick stop
bit 6: Switch on disabled
bit 7 = 0: No alarm
bit 7 = 1: Alarm present
bit 8: Reserved
bit 9 = 0: Forced local mode in progress (FLO)
bit 9 = 1: No forced local mode
bit 10 = 0: Reference not reached (transient state)
bit 10 = 1: Reference reached (steady state)
bit 11 = 0: LFRD reference normal
bit 11 = 1: LFRD reference exceeded (< LSP or > HSP) Caution: LFRD is expressed in rpm,
LSP and HSP in Hz
bits 12 and 13: Reserved
bit 14 = 0: No stop imposed by STOP key on built-in keypad (ATV31...A) or on the remote
display terminal
bit 14 = 1: Stop imposed by STOP key on built-in keypad (ATV31...A) or on the remote display
terminal
bit 15 = 0: Forward rotation (output frequency)
bit 15 = 1: Reverse rotation (output frequency)
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DRIVECOM variables

8605 6043 FRHD R Speed reference (signed ramp input)
DSP402: vl velocity demand
DRIVECOM: Reference speed variable
Unit: 1 rpm
8604 6044 RFRD R Output speed (signed value)
DSP402: vl control effort
DRIVECOM: Actual speed value
Unit:
• 1 = 1 rpm if bit 9 of CMI (page 15) = 0
8606 603F ERRD R Fault code
DSP402: Error code
DRIVECOM: Malfunction code
0000H = "nOF": No fault saved

1000H = "CrF": Capacitor pre-charge fault or
= "OLF": Motor overload fault or
= "SOF": Motor overspeed fault
2310H = "OCF": Overcurrent fault
2320H = "SCF": Impeding short-circuit fault or
= "SCF": Power module fault, specific to ATV31pD15p
2330H = "SCF": Motor short-circuit fault (to earth)
2340H = "SCF": Motor short-circuit fault (phase to phase)
3110H = "OSF": Line supply overvoltage fault
3120H = "USF": Line supply undervoltage fault
3130H = "PHF": Line supply phase loss fault
3310H = "ObF": DC bus overvoltage fault or
= "OPF": Motor phase loss fault or
= "OPF": Motor phase loss fault - 3 phases
4210H = "OHF": Drive overheating fault
5520H = "EEF": EEPROM memory fault
6100H = "InF": Internal fault
6300H = "CFF": Configuration (parameters) incorrect or
= "CFI": Configuration (parameters) invalid
7300H = "LFF": 4 - 20 mA fault on AI3
7510H = "SLF": Modbus communication fault
8100H = "COF": CANopen communication fault
9000H = "EPF": External fault
FF00H = "tnF": Auto-tuning fault
FF01H = "bLF": Brake control fault
8607 - 6046 / 1 SMIL R/W Min. speed
8608 DSP402: vl velocity min amount
DRIVECOM: Speed min amount
Low speed, equivalent to LSP (page 23), but in rpm
Unit: 1 rpm
32-bit word (low order: 8607, high order: 8608)
Adjustment range: 0 to HSP (page 23)
8609 - 6046 / 2 SMAL R/W Max. speed
8610 DSP402: vl velocity max amount
DRIVECOM: Speed max amount
High speed, equivalent to HSP (page 23), but in rpm
Unit: 1 rpm
Adjustment range: LSP (page 23) to tFR (page 27)
8611 - 6048 / 1 SPAL R/W Acceleration - Speed delta
8612 Speed for calculation of acceleration ramp
Unit: 1 rpm
Adjustment range: 1 to 65535
8613 6048 / 2 SPAT R/W Acceleration - Time delta
Time for calculation of acceleration ramp (time to go from 0 to SPAL)
Unit: 1 s
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DRIVECOM variables

8614 - 6049 / 1 SPDL R/W Deceleration - Speed delta
8615 Speed for calculation of deceleration ramp
Unit: 1 rpm
8616 6049 / 2 SPDT R/W Deceleration - Time delta
Time for calculation of deceleration ramp (time to go from SPDL to 0)
Unit: 1 s
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Control variables

8501 2037 / 2 CMD R/W Control word
bit 0: "Switch on": active at 1
bit 1: "Disable Voltage": active at 0
bit 2: "Quick Stop": active at 0
bit 3: "Enable Operation": active at 1
bit 7: Fault reset: active on rising edge 0 -> 1
For "Access level" LAC (page 30) = L1 or L2:

bit13 = 1: Injection stop command
bit14 = 1: Fast stop command
bit 15: Reserved: set to 0
For "Access level" LAC (page 30) = L3:
Factory assignments
bit 13: No action
bit 14: No action
bit 15: No action
These 5 bits can be assigned to functions.

For example, to use bit 15 to switch the ramp, simply set the "Ramp switching" rPS
configuration parameter (page 33) to Cd15.
8502 2037 / 3 LFr R/W Frequency reference via the bus (signed value)
Unit:
• 1 = 0.1 Hz if bit 9 of CMI (page 15) = 0
8503 2037 / 4 PISP R/W PI regulator reference via the bus
Unit: 0.1%
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Control variables

8504 2037 / 5 CMI R/W Extended control word
bit 0 = 1: Recall factory settings command. This bit automatically resets to 0 when the request
is taken into account. It is only active when the drive has come to a complete stop:
ETI.4 = ETI.5 = 0.
bit 1 = 1: Save configuration/adjustments in EEPROM if voltage is sufficient (no USF fault). This
bit automatically resets to 0 when the request is taken into account.
During saving (ETI.0 = 1), parameters cannot be written.
bit 4 = 1: Ramp switching command
bits 4 to 8: Reserved
bit 9 = 0: Normal resolution (references, output speed and ouput frequency in physical units:
rpm and Hz)
bit 9 = 1: High resolution (references, output speed and ouput frequency in 32767 points for
600 Hz)
bit 13 = 0: Drive not locked on standstill
bit 13 = 1: Drive locked on standstill
bit 14 = 0: Control with Modbus communication monitoring
bit 14 = 1: Control with no Modbus communication monitoring (NTO)
For safety reasons, inhibiting the Modbus communication fault (NTO) should be
restricted to the debug phase or to special applications.
bit 15 = 0: Parameter consistency check

bit 15 = 1: No parameter consistency check + drive locked on standstill (switching this bit to 0
will revalidate all parameters)
5240 2016 / 29 IOLR R/W Value of logic I/O
(0 = inactive, 1 = active)
bits 0 to 7: Not accessible in write mode
bit 8: Value of "R1" relay output, accessible in write mode if R1 is not assigned
bit 9: Value of "R2" relay output, accessible in write mode if R2 is not assigned
bit 10: Value of "LO" logic output, accessible in write mode if LO is not assigned
bit 14: Not accessible in write mode
bit 15: Reserved
5261 2016 / 3E AO1R R/W Value of the analog output
AO1R is accessible in write mode if dO (page 29) is not assigned
Variation range: 0 to 10000
The value 10000 corresponds to 10V if AO1t = 10U, or to 20 mA if AO1t = OA or 4A (page 28)
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Monitoring variables

3201 2002 / 2 ETA R Status word
bit 0: Ready to switch on
bit 1: Switched on
bit 2: Operation enabled
bit 3 = 0: No fault
bit 3 = 1: Malfunction, fault present (FAI)
bit 4: Voltage disabled (still equals 0)
bit 5: Quick stop
bit 6: Switch on disabled
bit 7 = 0: No alarm
bit 7 = 1: Alarm present
bit 8: Reserved
bit 9 = 0: Forced local mode in progress (FLO)
bit 9 = 1: No forced local mode
bit 10 = 0: Reference not reached (transient state)
bit 10 = 1: Reference reached (steady state)
bit 11 = 0: LFRD reference normal
bit 11 = 1: LFRD reference exceeded (< LSP or > HSP) Caution: LFRD is expressed in rpm,
LSP and HSP in Hz
bit 14 = 0: No stop imposed by STOP key on built-in keypad (ATV31...A) or on the remote
display terminal
bit 14 = 1: Stop imposed by STOP key on built-in keypad (ATV31...A) or on the remote display
terminal
bit 15 = 0: Forward rotation (output frequency)
bit 15 = 1: Reverse rotation (output frequency)
3202 2002 / 3 rFr R Output frequency applied to the motor (signed value)
Unit:
• 1 = 0.1 Hz if bit 9 of CMI (page 15) = 0
3203 2002 / 4 FrH R Frequency reference before ramp (absolute value)
Unit: 0.1 Hz
3204 2002 / 8 LCr R Current in the motor
Unit: 0.1 A
3205 2002 / 6 Otr R Motor torque
Unit: 1%
100% = Nominal motor torque, calculated using the configuration parameters.
3211 2002 / C OPr R Motor power
Unit: 1%
100% = Nominal motor power, calculated using the configuration parameters.
3207 2002 / 5 ULn R Line voltage
Unit: 0.1 V
(gives the line voltage via the DC bus, motor running or stopped)
3209 2002 / A tHd R Drive thermal state
Unit: 1%
100% = Nominal thermal state
118% = "OHF" threshold (drive overheating)
3210 2002 / B TDM R Max. thermal state reached by the drive
Unit: 1%
118% = "OHF" threshold (drive overheating)
Automatically reset to zero when the drive is powered down.
9630 2042 / 1F tHr R Motor thermal state
Unit: 1%
118% = "OLF" threshold (motor overload)
3231 2002 / 20 rtH R Operating time
Unit: 1 Hour
Factory setting: 0
Total time the motor has been powered up.

Can be reset to zero by the rPr parameter (see page 48).
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12002 205A / 3 USPL R Motor speed in customer units - Low order
Unit: 1
USPL/USPH = rFr x SdS on 32 bits (see pages 25 and 16).
12003 205A / 4 USPH R Motor speed in customer units - High order
Unit: 1
USPL/USPH = rFr x SdS on 32 bits (see pages 25 and 16).
3206 2002 / 7 ETI R Extended status word
bit 0 = 0: Write parameters authorized
bit 0 = 1: Write parameters not authorized (the drive is in the process of saving the current
parameters from the RAM to the EEPROM)
bit 1 = 0: No parameter consistency check + drive locked on standstill
bit 1 = 1: Parameter consistency check
bit 2 = 0: Fault reset not authorized
bit 2 = 1: Fault reset authorized
bit 3: Reserved
bit 4 = 0: Motor stopped
bit 4 = 1: Motor running
bit 5 = 0: No DC injection
bit 5 = 1: DC injection
bit 6 = 0: Drive in steady state
bit 6 = 1: Drive in transient state
bit 7 = 0: No motor thermal overload alarm
bit 7 = 1: Motor thermal overload alarm
bit 8 = 0: No alarm if excessive braking
bit 8 = 1: Alarm if excessive braking
bit 9 = 0: Drive not accelerating
bit 9 = 1: Drive accelerating
bit 10 = 0: Drive not decelerating
bit 10 = 1: Drive decelerating
bit 11 = 0: No current limit alarm
bit 11 = 1: Current limit alarm
bit 12 = 0: Fast stop not in progress
bit 12 = 1: Fast stop in progress
bit 14 = 0 and bit 13 = 0: ATV controlled via terminal block or built-in keypad (ATV31....A)
bit 14 = 0 and bit 13 = 1: ATV controlled via the remote display terminal
bit 14 = 1 and bit 13 = 0: ATV controlled via ModBus
bit 14 = 1 and bit 13 = 1: ATV controlled via CanOpen
bit 15 = 0: Forward rotation requested (reference)
bit 15 = 1: Reverse rotation requested (reference)
3250 2002 / 33 LRS1 R Extended status word No. 1
bit 0: Reserved
bit 1 = 0: No drive fault
bit 1 = 1: Drive fault
bit 2 = 0: Motor stopped
bit 2 = 1: Motor running
bit 3: Reserved
bit 4 = 0: Frequency threshold (Ftd) not reached
bit 4 = 1: Frequency threshold (Ftd) reached
bit 5 = 0: High speed not reached
bit 5 = 1: High speed reached
bit 6 = 0: Current threshold (Ctd) not reached
bit 6 = 1: Current threshold (Ctd) reached
bit 7 = 0: Speed reference not reached
bit 7 = 1: Speed reference reached
bit 8 = 0: No motor thermal overload alarm
bit 8 = 1: Motor thermal overload alarm
bit 9 = 0: No brake control (brake engaged)
bit 9 = 1: Brake control in progress (brake released)
bit 12 = 0: No loss of 4-20 mA fault
bit 12 = 1: Loss of 4-20 mA fault
bit 13: Reserved
bit 14 = 0: No drive thermal overload alarm
bit 14 = 1: Drive thermal overload alarm
bit 15: Reserved
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3252 2002 / 35 LRS3 R Extended status word No. 3
bit 0 = 0: The reference is given by Fr1
bit 0 = 1: The reference is given by Fr2
bit 1 = 0: The command is given by Fr1 or Cd1
bit 1 = 1: The command is given by Fr2 or Cd2
bit 2 = 0: ACC and DEC are used as ramp parameters
bit 2 = 1: ACC2 and DEC2 are used as ramp parameters
bit 3 = 0: CLI is used for current limiting
bit 3 = 1: CL2 is used for current limiting
bit 11 = 0: Motor 1 is not used
bit 11 = 1: Motor 1 is used
bit 12 = 0: Motor 2 is not used
bit 12 = 1: Motor 2 is used
5240 2016 / 29 IOLR R Value of logic I/O
(0 = inactive, 1 = active)
bit 0: Value of logic input "LI1"
bit 1: Value of logic input "LI2"
bit 2: Value of logic input " LI3"
bit 6: Reserved
bit 7: Keypad presence: 0 = absent, 1 = present
bit 8: Value of "R1" relay output, also accessible in write mode if R1 is not assigned
bit 9: Value of "R2" relay output, also accessible in write mode if R2 is not assigned
bit 10: Value of "LO" logic output, also accessible in write mode if LO is not assigned
bit 11: Reserved
bit 12: Reserved
bit 13: Reserved
bit 14: 0 = AOC/AOV logic output, 1 = AOC/AOV analog output
bit 15: Reserved
5241 2016 / 2A AIPC R Value of analog input AIP (ATV31….A drive potentiometer)
Unit: 1 mV
5242 2016 / 2B AI1C R Value of analog input AI1
Unit: 1 mV
5243 2016 / 2C AI2C R Value of analog input AI2
Unit: 1 mV
Variation range: -10000 to 10000
5244 2016 / 2D AI3C R Value of analog input AI3
Unit: 1 μA
5261 2016 / 3E AO1R R Value of the analog output
AO1R is also accessible in write mode if dO (page 29) is not assigned
The value 10000 corresponds to 10V if AO1t = 10U, or to 20 mA if AO1t = OA or 4A (page 28)
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7121 2029 / 16 LFt R Last fault
The fault remains saved even if the fault disappears, but LFt is reset after powering down the
drive then powering up again.
0 = "nOF": No fault saved
3 = "CFF": Configuration (parameters) incorrect
4 = "CFI": Configuration (parameters) invalid
5 = "SLF": Modbus communication fault
8 = "EPF": External fault
9 = "OCF": Overcurrent fault
10 = "CrF": Capacitor pre-charge fault
13 = "LFF": 4 - 20 mA fault on AI3
16 = "OHF": Drive overheating fault
17 = "OLF": Motor overload fault
18 = "ObF": DC bus overvoltage fault
19 = "OSF": Line supply overvoltage fault
20 = "OPF": Motor phase loss fault
21 = "PHF": Line supply phase loss fault
22 = "USF": Line supply undervoltage fault
23 = "SCF": Motor short-circuit fault (phase to phase)
24 = "SOF": Motor overspeed fault
25 = "tnF": Auto-tuning fault
26 to 29 = "InF": Internal fault
30 = "EEF": EEPROM memory fault
31 = "SCF": Impeding short-circuit fault
32 = "SCF": Motor short-circuit fault (to earth)
33 = "OPF": Motor phase loss fault - 3 phases
34 = "COF": Communication fault line 2 (CANopen)
35 = "bLF": Brake control fault
36 = "SCF": Power module fault, specific to ATV31pD15p
7201 202A / 2 DP1 R Past fault No. 1
(Same format as "LFt" page 19)
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7211 202A / C EP1 R Status of past fault No. 1
bit 0 = Same as ETA.1:
- 0: Drive not ready
- 1: Drive ready (RDY)
- 0: Emergency stop in progress
- 1: No emergency stop
- 0: No SWITCH ON DISABLED status
- 1: SWITCH ON DISABLED status
bit 3 = Same as ETA.9: Reserved
- 0: Forward rotation (output frequency)
- 1: Reverse rotation (output frequency)
bit 5 = Same as ETI.4:
- 0: Motor stopped
- 1: Motor running
- 0: No DC injection
- 1: DC injection
- 0: No motor thermal overload alarm
- 1: Motor thermal overload alarm
bit 8 = Same as ETI.8: Reserved
- 0: Drive not accelerating
- 1: Drive accelerating
- 0: Drive not decelerating
- 1: Drive decelerating
- 0: No current limit alarm
- 1: Current limit alarm
bit 12 = Same as ETI.12: Reserved
bits 13 and 14 = Same as ETI.13 and ETI.14:
- bit 14 = 0 and bit 13 = 0: ATV controlled via terminal block or built-in keypad (ATV31....A)
- bit 14 = 0 and bit 13 = 1: ATV controlled via the remote display terminal
- bit 14 = 1 and bit 13 = 0: ATV controlled via ModBus
- bit 14 = 1 and bit 13 = 1: ATV controlled via CanOpen
- 0: Forward rotation requested (reference)
- 1: Reverse rotation requested (reference)
7212 202A / D EP2 R Status of past fault No. 2
(Same format as "EP1")
7213 202A / E EP3 R Status of past fault No. 3
7214 202A / F EP4 R Status of past fault No. 4
6056 201E / 39 ErCO R CANopen: error word
Unit: 1
Range: 0 to 4
0: "No error"
1: "Bus off error"
2: "Life time error"
3: "CAN overrun"
4: "Heartbeat error"
8541 2037 / 2A CMI1 R Image of Modbus extended control word
(received by the Modbus channel)
Identical to CMI (page 15).
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8542 2037 / 2B CMI2 R Image of CANopen extended control word
(received by the CANopen channel)
Identical to CMI (page 15).
8521 2037 / 16 LFR1 R Image of Modbus frequency reference
Identical to LFr (page 14).
8522 2037 / 17 LFR2 R Image of CANopen frequency reference
Identical to LFr (page 14).
8631 2038 / 20 LFD1 R Image of Modbus speed reference
Speed reference received by the Modbus channel
Identical to LFRD (page 11)
8632 2038 / 21 LFD2 R Image of CANopen speed reference
Speed reference received by the CANopen channel
Identical to LFRD (page 11)
8531 2037 / 20 PIR1 R Image of Modbus PI reference
Identical to PISP (page 14).
8532 2037 / 21 PIR2 R Image of CANopen PI reference
Identical to PISP (page 14).
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Identification variables

3011 2000 / C NCV R Drive rating
0 = unknown
1 = 018 (0.18 kW)
2 = 037 (0.37 kW)
3 = 055 (0.55 kW)
4 = 075 (0.75 kW)
5 = U11 (1.1 kW)
6 = U15 (1.5 kW)
7 = U22 (2.2 kW)
8 = U30 (3 kW)
9 = U40 (4 kW)
10 = U55 (5.5 kW)
11 = U75 (7.5 kW)
12 = D11 (11 kW)
13 = D15 (15 kW)
3012 2000 / D VCAL R Drive voltage
0 = unknown
1 = M2 (200...240 V single phase)
2 = M3X (200...240 V 3-phase)
3 = N4 (380...500 V 3-phase)
4 = S6X (525...600 V 3-phase)
3017 2000 / 12 INV R Nominal drive current
Unit: 0.1 A
3010 2000 / B ZON R Drive type
0 = unknown
1 = ATV31……(drive without built-in keypad)
3 = ATV31……(drive with built-in keypad)
3401 2004 / 2 TSP R Drive firmware type
The firmware type is specified by an ASCII letter
"A": Standard firmware
3302 2000 / 4 UdP R Drive firmware version
Coded on 2 bytes.
- low order byte: firmware upgrade index (UI) in hexadecimal format
- high order byte: firmware version (V) in hexadecimal format
Example : For V1.2 IE04, UdP = 16#1204
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Configuration and adjustment variables

3105 2001 / 6 LSP R/W Low speed
Unit: 0.1 Hz
Factory setting: 0
Adjustment range: 0 to HSP
(Motor frequency at min. reference)
3104 2001 / 5 HSP R/W High speed
Unit: 0.1 Hz
Factory setting: if bFr = 50: 500, if bFr = 60: 600
Adjustment range: LSP to tFr
(Motor frequency at max. reference): Ensure that this setting is suitable for the motor and the
application.
9622 2042 / 17 ItH R/W Motor thermal protection - max. thermal current
Unit: 0.1 A
Factory setting: According to drive rating
Adjustment range: 0.2 to 1.5 In (1)
Set ItH to the nominal current on the motor rating plate.
Please refer to OLL on page 47 if you wish to suppress thermal protection.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the
drive rating plate.
9623 2042 / 18 UFr R/W IR compensation/Voltage boost
Unit: 1%
Factory setting: 20
- For UFt (page 27) = n or nLd: IR compensation
- For UFt = L or P: Voltage boost
Used to optimize torque at very low speed (increase UFr if the torque is insufficient).
Check that the value of UFr is not too high for when the motor is warm (risk of instability).
Modifying UFt (page 27) will cause UFr to return to the factory setting (20%).
9620 2042 / 15 FLG R/W Frequency loop gain
Unit: 1%
Factory setting: 20
Parameter active only if UFt (page 27) = n or nLd.
The FLG parameter adjusts the following of the speed ramp on the basis of the inertia of the
machine being driven.
Too high a gain may result in operating instability.
9621 2042 / 16 StA R/W Frequency loop stability
Unit: 1%
Factory setting: 20
Used to adapt the return to steady state after a speed transient (acceleration or deceleration),
according to the dynamics of the machine.
Gradually increase the stability to avoid any overspeed.
9625 2042 / 1A SLP R/W Slip compensation
Unit: 1%
Factory setting: 100
Used to adjust the slip compensation value fixed by nominal motor speed.
The speeds given on motor rating plates are not necessarily exact.
If slip setting < actual slip: the motor is not rotating at the correct speed in steady state.
If slip setting > actual slip: the motor is overcompensated and the speed is unstable.
11301 2053 / 2 JPF R/W Skip frequency
Unit: 0.1 Hz
Factory setting: 0
Prevents prolonged operation at a frequency range of ± 1 Hz around JPF. This function
prevents a critical speed which leads to resonance. Setting the function to 0 renders it inactive.
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11302 2053 / 3 JF2 R/W 2nd skip frequency
Unit: 0.1 Hz
Factory setting: 0
Prevents prolonged operation at a frequency range of ± 1 Hz around JF2. This function
prevents a critical speed which leads to resonance. Setting the function to 0 renders it inactive.
9201 203E / 2 CLI R/W Current limit
Unit: 0.1 A
Factory setting: 1.5 In (1)
Used to limit the torque and the temperature rise of the motor.
drive rating plate.
11701 2057 / 2 tLS R/W Low speed operating time
Unit: 0.1 s
Factory setting: 0 (no time limit)
Following operation at LSP for a defined period, a motor stop is requested automatically. The
motor restarts if the frequency reference is greater than LSP and if a run command is still
present.
Caution, value 0 corresponds to an unlimited time.
11003 2050 / 4 Ftd R/WS Motor frequency threshold
Unit: 0.1 Hz
Factory setting: bFr
Motor frequency threshold above which the relay contact (R1 or R2 = FtA) closes or output AOV
= 10 V (dO = StA)
11002 2050 / 3 ttd R/WS Motor thermal state threshold
Unit: 1%
Motor thermal state threshold above which the relay contact (R1 or R2 = tSA) closes or output
AOV = 10 V (dO = tSA)
11001 2050 / 2 Ctd R/WS Motor current threshold
Unit: 0.1 A
Factory setting: In (1)
Adjustment range: 0 to 1.5 In (1)
Motor current threshold above which the relay contact (R1 or R2 = CtA) closes or output AOV
= 10 V (dO = CtA)
drive rating plate.
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12001 205A / 2 SdS R/W USPL/USPH scale factor
(USPL/USPH = rFr x SdS) See USPL/USPH page 17.
Unit: 0.1
This parameter also affects the display parameter SPd1/SPd2/SPd3 in the SUP- menu
(See Programming Manual)
3015 2000 / 10 bFr R/WS Standard motor frequency
Factory setting: 0
0 = "50"
1 = "60"
50 Hz: IEC
60 Hz: NEMA
This parameter modifies the presets of the following parameters: HSP page 23, Ftd page 24, FrS
page 25 and tFr page 27.
9601 2042 / 2 UnS R/WS Nominal motor voltage given on the rating plate
Unit: 1 V
Adjustment range according to drive rating:
ATV31ppp M2: 100 to 240 V
ATV31ppp M3X: 100 to 240 V
ATV31ppp N4: 100 to 500 V
ATV31ppp S6X: 100 to 600 V
9602 2042 / 3 FrS R/WS Nominal motor frequency given on the rating plate
Unit: 0.1 Hz
Factory setting: if bFr = 50: 500 if bFr = 60: 600
UnS (in volts)
The ratio must not exceed the following values:
FrS (in Hz)
ATV31ppp M2: 7 max.
ATV31ppp M3X: 7 max.
ATV31ppp N4: 14 max.
ATV31ppp S6X: 17 max.
9603 2042 / 4 nCr R/WS Nominal motor current given on the rating plate
Unit: 0.1 A
drive rating plate.
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9604 2042 / 5 nSP R/WS Nominal motor speed given on the rating plate
Unit: 1 rpm
Adjustment range: 0 to 32767 RPM
0 to 9999 RPM then 10.00 to 32.76 KRPM
If, rather than the nominal speed, the rating plate indicates the synchronous speed and the slip
in Hz or as a %, calculate the nominal speed as follows:
100 - slip as a %
Nominal speed = Synchronous speed x
100
or
50 - slip in Hz
Nominal speed = Synchronous speed x (50 Hz motors)
50
or
60 - slip in Hz
60
9606 2042 / 7 COS R/WS Motor Cos Phi given on the rating plate
Unit: 0.01
9643 2042 / 2C rSC R/WS Cold state stator resistance
Factory setting: 0
0 = "nO": Function inactive. For applications which do not require high performance or do not
tolerate automatic auto-tuning (passing a current through the motor) each time the drive is
powered up.
1 = "InIt": Activates the function. To improve low-speed performance whatever the thermal state
of the motor.
>1 =" XXXX"
XXXX: Value of cold state stator resistance used, in mΩ.
Caution:
It is strongly recommended that this function is activated for Lifting and Handling applications.
The function should be activated (InIt) only when the motor is in cold state.
When rSC = InIt, parameter tUn is forced to POn. At the next run command or the next
power-up, the stator resistance is measured with an auto-tune. Parameter rSC then changes
to this value (XXXX) and maintains it; tUn remains forced to POn. Parameter rSC remains at
InIt as long as the measurement has not been performed.
Value XXXX can be forced or changed using the keys.
XXXX corresponds to half the resistance measured between 2 phases.
9608 2042 / 9 tUn R/WO Motor control auto-tuning
Factory setting: 0
It is essential that all the motor parameters (UnS, FrS, nCr, nSP, COS) are correctly configured
before performing the auto-tuning.
0 = "nO": Auto-tuning not performed.

112 = "YES": Auto-tuning is performed as soon as possible, then the parameter automatically
switches to dOnE or nO in the event of a fault (the tnF fault is displayed if tnL = YES, see
page 48).
113 = "dOnE": Use of the values given the last time auto-tuning was performed.
114 = "rUn": Auto-tuning is performed every time a run command is sent.
115 = "POn": Auto-tuning is performed on every power-up.
129 = "LI1": Logic input LI1
LI1 to LI6: Auto-tuning is performed on the transition from 0 V 1 of a logic input assigned to this
function.
Caution:
tUn is forced to POn if rSC is other than nO.
Auto-tuning is only performed if no command has been activated. If a "freewheel stop" or "fast
stop" function has been assigned to a logic input, this input must be set to 1 (active at 0).
Auto-tuning may last for 1 to 2 seconds. Do not interrupt; wait for the display to change to
"dOnE" or "nO".
During auto-tuning the motor operates at nominal current.
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9609 2042 / A tUS R Auto-tuning status
Factory setting: 0
0 =" tAb": The default stator resistance value is used to control the motor.
1 = "PEnd": Auto-tuning has been requested but not yet performed.
2 = "PrOG": Auto-tuning in progress.
3 = "FAIL": Auto-tuning has failed.
4 = "dOnE": The stator resistance measured by the auto-tuning function is used to control the
motor.
5 = "Strd": The cold state stator resistance (rSC other than nO) is used to control the motor.
9607 2042 / 8 UFt R/WS Selection of the type of voltage/frequency ratio
Factory setting: 2
0 = "L": Constant torque for motors connected in parallel or special motors
1 = "P": Variable torque for pump and fan applications
2 = "n": Sensorless flux vector control for constant torque applications
3 = "nLd": Energy saving, for variable torque applications not requiring high dynamics (behaves
in a similar way to the P ratio at no load and the n ratio on load).
3107 2001 / 8 nrd R/WS Random switching frequency
Factory setting: 1
0 = "nO": Fixed frequency
1 = "YES": Frequency with random modulation
Random frequency modulation prevents any resonance which may occur at a fixed frequency.
3102 2001 / 3 SFr R/W Switching frequency
Unit: 0.1 kHz
Factory setting: 40
The frequency can be adjusted to reduce the noise generated by the motor.
If the frequency has been set to a value higher than 4 kHz, in the event of excessive
temperature rise, the drive will automatically reduce the switching frequency and increase it
again once the temperature has returned to normal.
3103 2001 / 4 tFr R/WS Maximum output frequency
Unit: 0.1 Hz
Factory setting: if BFR = 50: 600 if BFR = 60: 720
9101 203D / 2 SrF R/WS Suppression of the speed loop filter
Factory setting: 0
0 = "nO": The speed loop filter is active (prevents the reference being exceeded).
1 = "YES": The speed loop filter is suppressed (in position control applications, this reduces the
response time and the reference may be exceeded).
8001 2032 / 2 SCS R/WS Saving the configuration
Factory setting: 0
0 = "nO": Function inactive
2 = "Str1": Saves the current configuration (but not the result of auto-tuning) to EEPROM.
SCS automatically switches to nO as soon as the save has been performed. This function is
used to keep another configuration in reserve, in addition to the current configuration.
When drives leave the factory the current configuration and the backup configuration are both
initialized with the factory configuration.
If the remote display terminal option is connected to the drive, the following additional selection
options will appear:
11 = "FIL1"
12 = "FIL2"
13 = "FIL3"
14 = "FIL4"
FIL1, FIL2, FIL3, FIL4 are files available in the remote display terminal’s EEPROM memory for
saving the current configuration. They can be used to store between 1 and 4 different
configurations which can also be stored on or even transferred to other drives of the same
rating.
SCS automatically switches to nO as soon as the save has been performed.
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8002 2032 / 3 FCS R/WS Return to factory settings/Restore configuration
Factory setting: 0
2 = "rEC1": The current configuration becomes identical to the backup configuration previously
saved by SCS = StrI. rECI is only visible if the backup has been carried out. FCS automatically
changes to nO as soon as this action has been performed.
64 = "InI": The current configuration becomes identical to the factory setting. FCS automatically
changes to nO as soon as this action has been performed.
If the remote display terminal option is connected to the drive, the following additional selection
options appear, as long as the corresponding files have been loaded in the remote display
terminal’s EEPROM memory (0 to 4 files):
11 = "FIL1": display terminal file 1 not empty
They enable the current configuration to be replaced with one of the 4 configurations that may
be loaded on the remote display terminal.
FCS automatically changes to nO as soon as this action has been performed.
11101 2051 / 2 tCC R/WS 2-wire/3-wire control
(Type of control)
Factory setting: 0 except for ATV31ppp A: 2
Control configuration:
0 = "2C" = 2-wire control: The open or closed state of the input controls running or stopping.
1 = "3C" = 3-wire control (pulse control): A "forward" or "reverse" pulse is sufficient to control
starting, a "stop" pulse is sufficient to control stopping.
2 = "LOC "= local control (drive RUN/STOP/RESET) for ATV31ppp A only (inactive if LAC = L3,
see page 30).
Changing the assignment of tCC returns the following functions to their factory setting:
rrS, tCt and all functions affecting logic inputs.
11102 2051 / 3 tCt R/WS Type of 2-wire control
(parameter active only if tCC = 2C)
Factory setting: 1
0 = "LEL ": State 0 or 1 is taken into account for run or stop.
1 = "trn": A change of state (transition or edge) is necessary to initiate operation, in order to
prevent accidental restarts after a break in the power supply.
2 = "PFO": State 0 or 1 is taken into account for run or stop, but the "forward" input always takes
priority over the "reverse" input.
11105 2051 / 6 rrS R/WS Reverse operation via logic input
Factory setting:
- if tCC = 0: 130
- if tCC = 1: 131
- if tCC = 2: 0
If rrS = nO, reverse operation is active, by means of negative voltage on AI2 for example.
0 = "nO": Not assigned
4434 200E / 23 CrL3 R/WS Value for low speed (LSP) on input AI3
Unit: 0.1 mA
Factory setting: 40
CrL3 and CrH3 are used to configure the input for 0-20 mA, 4-20 mA, 20-4 mA, etc.
4444 200E / 2D CrH3 R/WS Value for high speed (HSP) on input AI3
Unit: 0.1 mA
CrL3 and CrH3 are used to configure the input for 0-20 mA, 4-20 mA, 20-4 mA, etc.
4601 2010 / 2 AO1t R/WS Configuration of the analog output
Factory setting: 2
1 = "10U": 0 - 10 V configuration (use terminal AOV)
2 = "0A": 0 - 20 mA configuration (use terminal AOC)
3 = "4A": 4 - 20 mA configuration (use terminal AOC)
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5031 2014 / 20 dO R/WS Analog/logic output AOC/AOV
Factory setting: 0
For the following assignments the output is analog type:
129 = "OCr": Motor current. 20 mA or 10 V corresponds to twice the nominal drive current.
130 = "OFr": Motor frequency. 20 mA or 10 V corresponds to the maximum frequency tFr (page
27).
132 = "Otr": Motor torque. 20 mA or 10 V corresponds to twice the nominal motor torque.
139 = "OPr": Power supplied by the drive. 20 mA or 10 V corresponds to twice the nominal drive
power.
For the following assignments the output is logic type (see diagram in the Installation Manual):
With these assignments, configure AO1t = 0A.
1 = "FLt": Drive fault

2 = "rUn": Drive running
4 = "FtA": Frequency threshold reached (Ftd parameter page 24)
5 = "FLA": High speed (HSP) reached
6 = "CtA": Current threshold reached (Ctd parameter page 24)
7 = "SrA": Frequency reference reached
8 = "tSA": Motor thermal threshold reached (ttd parameter page 24)
9 = "bLC": Brake sequence (for information, as this assignment can be only be activated or
deactivated via the bLC parameter page 42)
12 = "APL": Loss of 4-20 mA signal, even if LFL = nO (page 48)
The logic output is in state 1 (24 V) when the selected assignment is active, with the exception
of FLt (state 1 if the drive is not faulty).
5001 2014 / 2 r1 R/WS Relay r1
Factory setting: 1
4= "FtA": Frequency threshold reached (Ftd parameter page 24)
The relay is powered up when the selected assignment is active, with the exception of FLt
(powered up if the drive is not faulty).
5002 2014 / 3 r2 R/WS Relay r2
Factory setting: 0
4 = "FtA": Frequency threshold reached (Ftd parameter page 24)
9 = "bLC": Brake sequence (for information, as this assignment can be only be activated or
deactivated via the bLC parameter page 42)
The relay is powered up when the selected assignment is active, with the exception of FLt
(powered up if the drive is not faulty).
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3006 2000 / 7 LAC R/WS Function access level
Factory setting: 0
0 = "L1": Access to standard functions. Significantly, this level is interchangeable with ATV28.
1 = "L2": Access to advanced functions:
- +/- speed (motorized potentiometer)
- Brake control
- Switching for second current limit
- Motor switching
- Management of limit switches
2 = L3: Access to advanced functions and management of mixed control modes.
Assigning LAC to L3 will restore the factory settings of the Fr1 (below), Cd1 (page 31),
CHCF (page 31), and tCC (page 28) parameters. The latter is forced to "2C" on
ATV31 pppA.
L3 can only be restored to L2 or L1 and L2 to L1 by means of a "factory setting" via
FCS (page 28).
8413 2036 / E Fr1 R/WS Configuration reference 1
Factory setting: 1 except for ATV31pppp A: 16
1 = "AI1": Analog input AI1
16 = "AIP": Potentiometer (ATV31pppA only)
If LAC = L2 or L3, the following additional assignments are possible:
160 = "UPdt": (1) + speed/- speed via LI

161 = "UpdH": (1) + speed/- speed via keys r on the ATV31 or ATV31pppA keypad or
r
remote display terminal. For operation, display the frequency rFr (see page 16)
If LAC = L3, the following additional assignments are possible:
163 = "LCC": Reference via the remote display terminal, LFr parameter page 14.
164 = "Mdb": Reference via Modbus
167 = "CAn": Reference via CANopen
(1) Caution, you cannot assign UPdt to Fr1 or Fr2 and UPdH to Fr1 or Fr2 at the same time.
Only one of the UPdt/UPdH assignments is permitted on each reference channel.
8414 2036 / F Fr2 R/WS Configuration reference 2
Factory setting: 0
16 = "AIP": Potentiometer (ATV31pppA only)
If LAC = L2 or L3, the following additional assignments are possible:
160 = "UPdt": (1) + speed/- speed via LI

161 = "UpdH": (1) + speed/- speed via keys r on the ATV31 or ATV31pppA keypad or
r
remote display terminal. For operation, display the frequency rFr (see page 16)
163 = "LCC": Reference via the remote display terminal, LFr parameter page 14.
(1) Caution, you cannot assign UPdt to Fr1 or Fr2 and UPdH to Fr1 or Fr2 at the same time.
Only one of the UPdt/UPdH assignments is permitted on each reference channel.
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8411 2036 / C rFC R/WS Reference switching
Factory setting: 96
Parameter rFC can be used to select channel Fr1 or Fr2 or to configure a logic input or a control
bit for remote switching of Fr1 or Fr2.
96 = "Fr1": Reference = Reference 1
97 = "Fr2": Reference = Reference 2
187 = "C111": bit 11 of the CMD control word (page 14) written by Modbus
203 = "C211": bit 11 of the CMD control word (page 14) written by CANopen
The reference can be switched with the drive running.

Fr1 is active when the logic input or control word bit is at state 0.
Fr2 is active when the logic input or control word bit is at state 1.
Switching channel may result in a change of direction of motor rotation.
8401 2036 / 2 CHCF R/WS Mixed mode (control channels separated from reference channels)
Factory setting: 1
Active if LAC = L3
1 = "SIM": Combined
2 = "SEP": Separate
8423 2036 / 18 Cd1 R/WS Configuration of control channel 1
Active if CHCF = SEP and LAC = L3
1 = "tEr": Terminal block control
2 = "LOC": Keypad control (ATV31pppA only)
3 = "LCC": Remote display terminal control
10 = "Mdb": Control via Modbus
20 = "CAn": Control via CAN
8424 2036 / 19 Cd2 R/WS Configuration of control channel 2
Factory setting: 10
1 = "tEr": Terminal block control
2 = "LOC": Keypad control (ATV31pppA only)
3 = "LCC": Remote display terminal control
10 = "Mdb": Control via Modbus
20 = "CAn": Control via CAN
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8421 2036 / 16 CCS R/WS Control channel switching
Factory setting: 98
Parameter CCS can be used to select channel Cd1 or Cd2 or to configure a logic input or a
control bit for remote switching of Cd1 or Cd2.
98 = "Cd1": Control channel = Channel 1
99 = "Cd2": Control channel = Channel 2
Channel 1 is active when the input or control word bit is at state 0.

Channel 2 is active when the input or control word bit is at state 1.
Switching channel may result in a change of direction of motor rotation.
8402 2036 / 3 COP R/WS Copy channel 1 to channel 2

Factory setting: 0
Active if LAC = L3
Copying is only performed from channel 1 to channel 2.
0 = "nO": No copy
1 = "SP": Copy reference
2 = "Cd": Copy control
3 = "ALL": Copy control and reference
Exceptions:
• If channel 2 is controlled via the terminal block (2-wire or 3-wire control), channel 1 control is
not copied.
• If channel 2 reference is set via analog input (AI1, AI2, AI3 or AIP), channel 1 reference is
not copied.
Reference copied:
• If channel 2 is the +/- speed type, the output frequency applied to the motor (rFr) is copied.
• In other cases (built-in keypad, remote display terminal or communication bus), the reference
before ramp (FrH) is copied.
Note: If channel 2 is a communication bus, the copy is "overwritten" as soon as a new control
or reference is received by the bus.
64003 2262 / 4 LCC R/WS Control via remote display terminal
Factory setting: 0
Parameter active only with the remote display terminal option and if LAC = L1 or L2.
1 = "YES": Enables control of the drive using the STOP/RESET, RUN and FWD/REV buttons
on the display terminal. The speed reference is then given by parameter LFr page 14. Only the
freewheel, fast stop and DC injection stop commands remain active on the terminal block. If the
drive/terminal connection is cut or if the terminal has not been connected, the drive locks in an
SLF fault.
64002 2262 / 3 PSt R/WS Stop priority
Factory setting: 1
This function gives priority to the STOP key on the keypad (ATV31 pppA only) or the STOP key
on the remote display terminal, regardless of the control channel (terminal block or
communication bus).
1 = "YES": STOP key priority
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64001 2262 / 2 rOt R/WS Direction of operation authorized
Factory setting: 0
Direction of operation authorized for the RUN key on the keypad (ATV31ppp A only) or the RUN
key on the remote display terminal.
0 = "dFr": Forward
1 = "drS": Reverse
2 = "bOt": Both directions are authorized (except for the keypad on the ATV31ppp A: Forward
only).
9004 203C / 5 rPt R/WS Type of ramp
Defines the shape of the acceleration and deceleration ramps.
Factory setting: 0
0 = "LIn": Linear
1 = "S": S ramp
2 = "U": U ramp
3 = "CUS": Customized
9005 203C / 6 tA1 R/W Start of CUS-type acceleration ramp rounded
Unit: 1% (as % of total ramp time ACC or AC2)
Factory setting: 10
9006 203C / 7 tA2 R/W End of CUS-type acceleration ramp rounded
Unit: 1% (as % of total ramp time ACC or AC2)
Factory setting: 10
Adjustment range: 0 to 100 - tA1
9007 203C / 8 tA3 R/W Start of CUS-type deceleration ramp rounded
Unit: 1% (as % of total ramp time dEC or dE2)
Factory setting: 10
9008 203C / 9 tA4 R/W End of CUS-type deceleration ramp rounded
Unit: 1% (as % of total ramp time dEC or dE2)
Factory setting: 10
Adjustment range: 0 to 100 - tA3
9001 203C / 2 ACC R/W Acceleration ramp time
Unit: 0.1 s
Factory setting: 30
Defined for accelerating between 0 and the nominal frequency FrS (page 25).
9002 203C / 3 dEC R/W Deceleration ramp time
Unit: 0.1 s
Factory setting: 30
Defined for decelerating between the nominal frequency FrS (page 25) and 0.
Check that the value of dEC is not too low in relation to the load to be stopped.
9010 203C / B rPS R/WS Ramp switching
Factory setting: 0
This function remains active regardless of the control channel.
If LAC = L3, the following assignments are possible:
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
ACC and dEC are enabled when the logic input or control word bit is at state 0.
AC2 and dE2 are enabled when the logic input or control word bit is at state 1.
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9011 203C / C Frt R/WS Ramp switching threshold
Unit: 0.1 Hz
Factory setting: 0
The second ramp is switched if the value of Frt is not equal to 0 (0 deactivates the function) and
the output frequency is greater than Frt.
Threshold ramp switching can be combined with switching via LI or bit as follows:
LI or bit Frequency Ramp
0 <Frt ACC, dEC
0 >Frt AC2, dE2
1 <Frt AC2, dE2
1 >Frt AC2, dE2
9012 203C / D AC2 R/W 2nd acceleration ramp time

Unit: 0.1 s
Factory setting: 50
Enabled via logic input (rPS) or frequency threshold (Frt).
9013 203C / E dE2 R/W 2nd deceleration ramp time
Unit: 0.1 s
Factory setting: 50
Enabled via logic input (rPS) or frequency threshold (Frt).
9003 203C / 4 brA R/WS Deceleration ramp adaptation
Factory setting: 1
Activating this function automatically adapts the deceleration ramp, if this has been set at too
low a value for the inertia of the load.
1 = "YES": Function active. The function is incompatible with applications requiring:
- positioning on a ramp
- the use of a braking resistor (no guarantee of the function operating correctly)
brA is forced to nO if brake control bLC is assigned (page 42).
11201 2052 / 2 Stt R/WS Normal stop mode
Factory setting: 0
Stop mode on disappearance of the run command or appearance of a stop command.
0 = "rMP": On ramp
1 = "FSt": Fast stop
2 = "nSt": Freewheel stop
3 = "dCI": DC injection stop
11204 2052 / 5 FSt R/WS Fast stop via logic input
Factory setting: 0
The stop is activated when the logic state of the input changes to 0 and the control word bit
changes to 1. The fast stop is a stop on a reduced ramp via parameter dCF. If the input falls
back to state 1 and the run command is still active, the motor will only restart if 2-wire level
control has been configured (tCC = 2C and tCt = LEL or PFO, see page 28). In other cases, a
new run command must be sent.
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11230 2052 / 1F dCF R/WS Coefficient for dividing the deceleration ramp time for fast stopping
Unit: 1
Factory setting: 4
Ensure that the reduced ramp is not too low in relation to the load to be stopped.
The value 0 corresponds to the minimum ramp.
11203 2052 / 4 dCI R/WS DC injection via logic input
Factory setting: 0
Braking is activated when the logic state of the input or control word bit is at 1.
11210 2052 / B IdC R/W Level of DC injection braking current activated via logic input or selected as stop mode
Caution: This setting is not related to the "automatic standstill DC injection" function.
Unit: 0.1 A
Adjustment range: 0 to In (1)
After 5 seconds the injection current is peak limited at 0.5 Ith if it is set at a higher value.
drive rating plate.
11211 2052 / C tdC R/W Total DC injection braking time selected as normal stop mode
Caution: This setting is not related to the "automatic standstill DC injection" function.
Unit: 0.1 s
Factory setting: 5
11202 2052 / 3 nSt R/WS Freewheel stop via logic input
Factory setting: 0
The stop is activated when the logic state of the input is at 0. If the input falls back to state 1
and the run command is still active, the motor will only restart if 2-wire level control has been
configured. In other cases, a new run command must be sent.
10401 204A / 2 AdC R/W Automatic standstill DC injection
(at the end of the ramp)
Factory setting: 1
0 = "nO": No injection
1 = "YES": Standstill injection for adjustable period
2 = "Ct": Continuous standstill injection
This parameter gives rise to the injection of current even if a run command has not been
sent.
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10402 204A / 3 tdC1 R/W Automatic standstill DC injection time
Unit: 0.1 s
Factory setting: 50
10403 204A / 4 SdC1 R/W Level of automatic standstill DC injection current
Unit: 0.1 A
Check that the motor will withstand this current without overheating.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and
on the drive rating plate.
10404 204A / 5 tdC2 R/W 2nd automatic standstill DC injection time
Unit: 0.1 s
Factory setting: 0
10405 204A / 6 SdC2 R/W 2nd level of standstill DC injection current
Unit: 0.1 A
Check that the motor will withstand this current without overheating.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and
on the drive rating plate.
11801 2058 / 2 SA2 R/WS Summing input 2
Factory setting: 2
Can be used to sum one or two inputs to reference Fr1 only.
16 = "AIP": Potentiometer (type A drives only)
163 = "LCC": Reference via the remote display terminal, LFr parameter in the SEt- menu
page 14.
11802 2058 / 3 SA3 R/WS Summing input 3
Factory setting: 0
Can be used to sum one or two inputs to reference Fr1 only.
16 = "AIP": Potentiometer (type A drives only)
163 = "LCC": Reference via the remote display terminal, LFr parameter in the SEt- menu
page 14.
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11401 2054 / 2 PS2 R/WS 2 preset speeds
Factory setting: if tCC = 1: 0 if tCC = 0 or 2: 131
Selecting the assigned logic input activates the function.
Factory setting: if tCC = 1: 0 if tCC = 0 or 2: 132
Check that PS2 has been assigned before assigning PS4.

Factory setting: 0

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Factory setting: 0

11410 2054 / B SP2 R/W 2nd preset speed
Unit: 0.1 Hz
11411 2054 / C SP3 R/W 3rd preset speed
Unit: 0.1 Hz
11412 2054 / D SP4 R/W 4th preset speed
Unit: 0.1 Hz
11413 2054 / E SP5 R/W 5th preset speed
Unit: 0.1 Hz
11414 2054 / F SP6 R/W 6th preset speed
Unit: 0.1 Hz
11415 2054 / 10 SP7 R/W 7th preset speed
Unit: 0.1 Hz
Unit: 0.1 Hz
Unit: 0.1 Hz
11418 2054 / 13 SP10 R/W 10 th preset speed
Unit: 0.1 Hz
Unit: 0.1 Hz
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Unit: 0.1 Hz
Unit: 0.1 Hz
Unit: 0.1 Hz
Unit: 0.1 Hz
Unit: 0.1 Hz
11110 2051 / B JOG R/WS Jog operation
Factory setting: if tCC = 0 or 2: 0 if tCC = 1: 132
11111 2051 / C JGF R/W Jog operation reference
Unit: 0.1 Hz
11501 2055 / 2 USP R/WS + speed (motorized potentiometer)
Factory setting: 0
Function active only if LAC = L2 or L3 and UPdt has been selected (see page 30).
11502 2055 / 3 dSP R/WS - speed (motorized potentiometer)
Factory setting: 0
Function active only if LAC = L2 or L3 and UPdt has been selected (see page 30).
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11503 2055 / 4 Str R/WS Save reference
Factory setting: 0
Associated with the "+/- speed" function, this parameter can be used to save the reference:
- When the run commands disappear (saved to RAM)
- When the line supply or the run commands disappear (saved to EEPROM)
On the next start-up, the speed reference is the last reference saved.
0 = "nO": No save
1 = "rAM": Save to RAM
2 = "EEP": Save to EEPROM
11901 2059 / 2 PIF R/WS PI regulator feedback
Factory setting: 0
11941 2059 / 2A rPG R/W PI regulator proportional gain
Unit: 0.01
Contributes to dynamic performance during rapid changes in the PI feedback.
11942 2059 / 2B rIG R/W PI regulator integral gain
Unit: 0.01
Contributes to static precision during slow changes in the PI feedback.
11903 2059 / 4 FbS R/W PI feedback multiplication coefficient
Unit: 0.1
Factory setting: 10
For process adaptation
11940 2059 / 29 PIC R/W Reversal of the direction of correction of the PI regulator
Factory setting: 0
0 = "nO": normal
1 = "YES": reverse
11909 2059 / A Pr2 R/WS 2 preset PI references
Factory setting: 0
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11910 2059 / B Pr4 R/WS 4 preset PI references
Factory setting: 0
Check that Pr2 has been assigned before assigning Pr4.

11921 2059 / 16 rP2 R/W 2nd preset PI reference
Unit: 0.1%
Only active if Pr2 has been enabled by selecting an input.
11922 2059 / 17 rP3 R/W 3rd preset PI reference
Unit: 0.1%
11923 2059 / 18 rP4 R/W 4th preset PI reference
Unit: 0.1%
11960 2059 / 3D rSL RW0 Restart error threshold ("wake-up" threshold)
Unit: 0.1
Factory setting: 0
If the "PI" and "Low speed operating time"(tLS) (see page 24) functions are configured at the
same time, the PI regulator may attempt to set a speed lower than LSP.
This results in unsatisfactory operation which consists of starting, operating at low speed then
stopping, and so on…
Parameter rSL (restart error threshold) can be used to set a minimum PI error threshold for
restarting after a stop at prolonged LSP.
The function is inactive if tLS = 0.
11908 2059 / 9 PII R/WS Internal PI regulator reference
Factory setting: 0
0 = "nO": The PI regulator reference is Fr1, except for UPdH and UPdt (+/- speed cannot be
used as the PI regulator reference).
1 = "YES": The PI regulator reference is internal via parameter rPI.
11920 2059 / 15 rPI R/W Internal PI regulator reference
Unit: 0.1%
Factory setting: 0
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10001 2046 / 2 bLC R/WS Brake control configuration
Factory setting: 0
Function active only if LAC = L2 or L3 (page 30).
2 = "r2": Relay R2
64 = "dO": Logic output AOC
If bLC is assigned, parameters FLr (page 46) and brA (page 34) are forced to nO, and
parameter OPL (page 47) is forced to YES.
bLC is forced to nO if OPL = OAC (page 46).
10002 2046 / 3 brL R/WS Brake release frequency
Unit: 0.1 Hz
10006 2046 / 7 Ibr R/WS Motor current threshold for brake release
Unit: 0.1 A
drive rating plate.
10004 2046 / 5 brt R/WS Brake release time
Unit: 0.01 s
Factory setting: 50
10003 2046 / 4 bEn R/WS Brake engage frequency threshold
Unit: 0.1 Hz
Adjustment range: 0 to LSP
65535 = "nO": Not set
0 to LSP: Adjustment range in Hz
If bLC is assigned and bEn still equals nO, the drive will lock on a bLF fault on the first run
command.
10005 2046 / 6 bEt R/WS Brake engage time
Unit: 0.01 s
Factory setting: 50
10007 2046 / 8 bIP R/WS Brake release pulse
Factory setting: 0
0 = "nO": Whilst the brake is releasing, the motor torque direction corresponds to the direction
of rotation commanded.
1 = "YES": Whilst the brake is releasing, the motor torque direction is always forward,
regardless of the direction of operation commanded.
Check that the motor torque direction for "Forward" control corresponds to the upward
direction of the load. If necessary, reverse two motor phases.
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9202 203E / 3 LC2 R/WS Switching for second current limit
Factory setting: 0
CL1 is enabled when the logic input or control word bit is at state 0 (page 24).
CL2 is enabled when the logic input or control word bit is at state 1 (page 43).
9203 203E / 4 CL2 R/W 2nd current limit
Unit: 0.1 A
drive rating plate.
8011 2032 / C CHP R/WS Switching, motor 2
Factory setting: 0
LI or bit = 0: Motor 1
LI or bit = 1: Motor 2
- The motor switching function disables motor thermal protection. An external means
of motor thermal protection must therefore be provided.
- If you use this function, do not use the tUn auto-tuning function (page 26) on motor
2 and do not configure tUn = rUn or POn.
- Changes to parameters are only taken into account when the drive is locked.
9701 2043 / 2 UnS2 R/WS Nominal motor voltage (motor 2) given on the rating plate
Unit: 1 V
Adjustment range: According to drive rating:
ATV31ppp M2: 100 to 240 V
ATV31ppp M3X: 100 to 240 V
ATV31ppp N4: 100 to 500 V
ATV31ppp S6X: 100 to 600 V
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9702 2043 / 3 FrS2 R/WS Nominal motor frequency (motor 2) given on the rating plate
Unit: 0.1 Hz
Factory setting: if bFr = 50: 500 if bFr = 60: 600
UnS (in volts)
The ratio must not exceed the following values:
FrS (in Hz)
ATV31ppp M2: 7 max.
ATV31ppp M3X: 7 max.
ATV31ppp N4: 14 max.
ATV31ppp S6X: 17 max.
9703 2043 / 4 nCr2 R/WS Nominal motor current (motor 2) given on the rating plate
Unit: 0.1 A
drive rating plate.
9704 2043 / 5 nSP2 R/WS Nominal motor speed (motor 2) given on the rating plate
Unit: 1 rpm
If, rather than the nominal speed, the rating plate indicates the synchronous speed and the slip
in Hz or as a %, calculate the nominal speed as follows:
100 - slip as a %
Nominal speed = Synchronous speed x
100
or
50 - slip in Hz
50
or
60 - slip in Hz
60
9706 2043 / 7 COS2 R/WS Motor Cos Phi (motor 2) given on the rating plate
Unit: 0.01
9707 2043 / 8 UFt2 R/W Selection of the type of voltage/frequency ratio for motor 2
Factory setting: 2
0 = "L": Constant torque for motors connected in parallel or special motors
1 = "P": Variable torque for pump and fan applications
2 = "n": Sensorless flux vector control for constant torque applications
3 = "nLd": Energy saving, for variable torque applications not requiring high dynamics (behaves
in a similar way to the P ratio at no load and the n ratio on load).
9723 2043 / 18 UFr2 R/W IR compensation/Voltage boost, motor 2
Unit: 1%
Factory setting: 20
For UFt2 = n or nLd: IR compensation. For UFt2 = L or P: Voltage boost.
Used to optimize the torque at very low speed (increase UFr2 if the torque is insufficient).
Check that the value of UFr2 is not too high for when the motor is warm (risk of instability).
Modifying UFt2 will cause UFr2 to return to the factory setting (20%).
9720 2043 / 15 FLG2 R/W Frequency loop gain, motor 2
Unit: 1%
Factory setting: 20
Parameter active only if UFt2 = n or nLd. The FLG2 parameter adjusts the drive’s ability to
follow the speed ramp based on the inertia of the machine being driven.
Too high a gain may result in operating instability.
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9721 2043 / 16 StA2 R/W Frequency loop stability, motor 2
Unit: 1%
Factory setting: 20
Parameter active only if UFt2 = n or nLd.
Used to adapt the return to steady state after a speed transient (acceleration or deceleration),
according to the dynamics of the machine.
Gradually increase the stability to avoid any overspeed.
9725 2043 / 1A SLP2 R/W Slip compensation, motor 2
Unit: 1%
Parameter active only if UFt2 = n or nLd. Used to adjust the slip compensation value fixed by
nominal motor speed.
The speeds given on motor rating plates are not necessarily exact.
If slip setting < actual slip: the motor is not rotating at the correct speed in steady state.
If slip setting > actual slip: the motor is overcompensated and the speed is unstable.
11601 2056 / 2 LAF R/WS Limit, forward direction
Factory setting: 0
11602 2056 / 3 LAr R/WS Limit, reverse direction
Factory setting: 0
11603 2056 / 4 LAS R/WS Type of limit switch stop
Factory setting: 2
0 = "rMP": On ramp
1 = "FSt": Fast stop
2 = "nSt": Freewheel stop
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7122 2029 / 17 Atr R/WS Automatic restart
Factory setting: 0
1 = "YES": Automatic restart, after locking on a fault, if the fault has disappeared and the other
operating conditions permit the restart. The restart is performed by a series of automatic
attempts separated by increasingly longer waiting periods: 1 s, 5 s, 10 s, then 1 min for the
following periods.
If the restart has not taken place once the configurable time tAr has elapsed, the procedure is
aborted and the drive remains locked until it is powered down then powered up.
The following faults permit this function:
- External fault (EPF)
- Loss of 4-20 mA reference (LFF)
- CANopen fault (COF)
- Line overvoltage (OSF)
- Loss of a line phase (PHF)
- Loss of a motor phase (OPF)
- DC bus overvoltage (ObF)
- Motor overload (OLF)
- Serial link (SLF)
- Drive overheating (OHF)
The drive safety relay remains activated if this function is active. The speed reference and the
operating direction must be maintained.
Use 2-wire control (tCC = 2C) with tCt = LEL or PFO (page 28).
Check that an automatic restart does not present any danger to personnel or
equipment.
7123 2029 / 18 tAr R/WS Max. duration of restart process
Factory setting: 0
0 = "5" : 5 minutes
1 = "10" : 10 minutes
2 = "30" : 30 minutes
3 = "1h": 1 hour
4 = "2h": 2 hours
5 = "3h": 3 hours
6 = "Ct": Unlimited
This parameter is active if Atr = YES. It can be used to limit the number of consecutive restarts
on a recurrent fault.
7124 2029 / 19 rSF R/WS Reset of current fault
Factory setting: 0
3110 2001 / B FLr R/WS Flying restart (automatic catching a spinning load on ramp)
Factory setting: 0
Used to enable a smooth restart if the run command is maintained after the following events:
- Loss of line supply or disconnection
- Reset of current fault or automatic restart
- Freewheel stop
The speed given by the drive resumes from the estimated speed of the motor at the time of the
restart, then follows the ramp to the reference speed.
This function requires 2-wire control (tCC = 2C) with tCt = LEL or PFO.
1 = "YES": Function active
When the function is operational, it activates on each restart following one of the above events,
resulting in a slight delay (1 second max).
FLr is forced to nO if brake control (bLC) is assigned (page 42).
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7131 2029 / 20 EtF R/WS External fault
Factory setting: 0
7006 2028 / 7 EPL R/WS Stop mode in the event of an external fault EPF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
9611 2042 / C OPL R/WS Configuration of motor phase loss fault
Factory setting: 1
1 = "YES": Triggering of OPF fault
2 = "OAC": No fault triggered but management of the output voltage in order to avoid an
overcurrent when the link with the motor is re-established and flying restart even if FLr = nO.
To be used with downstream contactor.
OPL is forced to YES if brake control bLC is assigned (page 42).
If OPL = OAC, bLC is forced to nO (page 42).
7002 2028 / 3 IPL R/WS Configuration of line phase loss fault
Factory setting: 1 except for ATV31ppp M2: 0
This parameter is only active on 3-phase drives.
1 = "YES": Fault with fast stop
7008 2028 / 9 OHL R/WS Stop mode in the event of a drive overheating fault OHF
Factory setting: 1
7009 2028 / A OLL R/WS Stop mode in the event of a motor overload fault OLF
Factory setting: 1
7010 2028 / B SLL R/WS Stop mode in the event of a Modbus serial link fault SLF
Factory setting: 1
7011 2028 / C COL R/WS Stop mode in the event of a CANopen serial link fault COF
Factory setting: 1
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7012 2028 / D tnL R/WS Configuration of auto-tuning fault tnF
Factory setting: 1
0 = "nO": Fault ignored (the drive reverts to the factory settings)
1 = "YES": Fault with drive locked.
If rSC (see page 26) is other than nO, tnL is forced to YES.
7003 2028 / 4 LFL R/WS Stop mode in the event of a loss of 4 - 20 mA signal fault LFF
Factory setting: 0
0 = "nO": Fault ignored (only value possible if CrL3 y 3 mA, see page 28)
4 = "LFF": The drive switches to the fallback speed (LFF parameter)
5 ="rLS": The drive maintains the speed at which it was travelling when the fault occurred until
the fault has disappeared.
The factory setting of LFL is forced to YES if CrH3 < CrL3 (see page 28) and nO is impossible.
Before setting LFL to YES, rMP or FSt, check the connection of input AI3. Otherwise,
the drive may immediately switch to an LFF fault.
7080 2028 / 51 LFF R/WS Fallback speed
Unit: 0.1 Hz
Fallback speed setting for stopping in the event of a fault
7007 2028 / 8 drn R/WS Derated operation in the event of an overvoltage
Factory setting: 0
1 = "YES": The line voltage monitoring threshold is:
ATV31ppp M2: 130 V
ATV31ppp M3X: 130 V
ATV31ppp N4: 270 V
ATV31ppp S6X: 340 V
In this case, a line choke must be used and the performance of the drive cannot be guaranteed.
7004 2028 / 5 StP R/WS Controlled stop on mains power break
Factory setting: 0
0 = "nO": Locking of the drive and freewheel stopping of the motor
1 = "MMS": This stop mode uses the inertia to maintain the drive power supply as long as
possible.
2 = "rMP": Stop according to the valid ramp (dEC or dE2)
3 = "FSt": Fast stop, the stopping time depends on the inertia and the braking ability of the drive.
7125 2029 / 1A InH R/WS Fault inhibit
Factory setting: 0
Inhibiting faults may damage the drive beyond repair. This would invalidate the
guarantee.

Fault monitoring is active when the input is at state 0.

It is inactive when the input is at state 1.
All active faults are reset on a rising edge (from 0 to 1) of the input.
3120 2001 / 15 rPr R/WS Operating time reset to zero
Factory setting: 0
0 = "nO": No
2 = "rtH": Operating time reset to zero
The rPr parameter automatically falls back to nO as soon as the reset to zero is performed.
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6001 201E / 2 Add R/WS Modbus: Drive address
Unit: 1
Factory setting: 1
6001 201E / 2 Add R/WS Modbus: Drive address
Unit: 1
Factory setting: 1
6003 201E / 4 tbr R/WS Modbus: Transmission speed
Factory setting: 32
24 = "4.8" : 4800 bps
28 = "9.6" : 9600 bps
32 = "19.2": 19200 bps (Caution: The remote display terminal can only be used with this value.)
6004 201E / 5 tFO R/WS Modbus: communication format
Factory setting: 3
2 = "8O1": 8 data bits, odd parity, 1 stop bit
3 = "8E1": 8 data bits, even parity, 1 stop bit (Caution: The remote display terminal can only be
used with this value.)
4 = "8n1": 8 data bits, no parity, 1 stop bit
5 = "8n2": 8 data bits, no parity, 2 stop bits
6005 201E / 6 ttO R/WS Modbus: Time-out
Unit: 0.1 s
6051 201E / 34 AdCO R/WS CANopen: Drive address
Unit: 1
Factory setting: 0
6053 201E / 36 bdCO R/WS CANopen: Transmission speed
Factory setting: 52
30 = "10.0": 10 kbps
34 = "20.0": 20 kbps
38 = "50.0": 50 kbps
52 = "125.0": 125 kbps
60 = "250.0": 250 kbps
68 = "500.0": 500 kbps
76 = "1000": 1000 kbps
8431 2036 / 20 FLO R/WS Forced local mode
Factory setting: 0
In forced local mode, the terminal block or display terminal regains control of the drive.
8432 2036 / 21 FLOC R/WS Selection of the reference and control channel in forced local mode
Active only if LAC = 3
In forced local mode, only the speed reference is taken into account. PI functions, summing
inputs, etc. are not active.
1 = "AI1": Analog input AI1, logic inputs LI
16 = "AIP": Potentiometer (type A drives only), RUN, STOP buttons
163 = "LCC": Remote display terminal: LFr reference page 14, RUN, STOP, FWD/REV buttons.
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3003 2000 / 4 COd R/W Display terminal locking code
Enables the drive configuration to be protected using an access code.
Caution: Before entering a code, do not forget to make a careful note of it.
0 = OFF: No access locking codes

- To lock access, enter a code (2 to 9999). "On" appears on the screen to indicate that the
parameters have been locked.
1 = On: A code is locking access (2 to 9999)
- To unlock access, enter the code. The code remains on the display and access is unlocked
until the next power down. Parameter access will be locked again on the next power-up.
- If an incorrect code is entered, COd changes to "On" and the parameters remain locked.
2 to 9999: Parameter access is unlocked (the code remains on the screen).
- To reactivate locking with the same code when the parameters have been unlocked, return
to "On".
- To lock access with a new code when the parameters have been unlocked, enter the new
code.
- To disable locking when the parameters have been unlocked, return to "OFF".
When access is locked using a code, only the monitoring parameters can be accessed, with
only a temporary choice of parameter displayed.
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Replacing an ATV28 with an ATV31
If necessary, it is easy to replace an ATV28 with a ATV31 in an installation communicating via Modbus.
In fact, most of the variables used in the ATV28 are found in the ATV31 with the same addresses (double addressing).
• To replace an ATV28, the ATV28 addresses in this table can be used, but only these. All the other ATV28 addresses must be
replaced with those for the ATV31.
• For any new installation, we recommend using the new addresses, as this enables the number of Modbus requests to be reduced.
ATV 28 New ATV 28 New ATV 28 New

Code Code Code
address address address address address address
2 3003 COd 266 11412 SP4 462 7201 DP1
4 4434 CrL3 267 11413 SP5 464 7202 DP2
5 4444 CrH3 268 11414 SP6 466 7203 DP3
6 11101 tCC 269 11415 SP7 468 7204 DP4
10 6001 Add 270 11210 IdC 478 5240 IOLR
40 3015 bFr 272 11701 tLS 482 5261 AO1R
51 3102 SFr 279 11941 rPG 487 3208 Otr
52 3103 tFr 280 11942 rIG 491 3211 OPr
53 9602 FrS 281 11903 FbS 530 3231 rtH
55 9601 UnS 282 11001 Ctd 555 3017 INV
60 3107 nrd 283 11002 ttd 600 8606 ERRD
61 9607 UFt 284 11003 Ftd 601 8601 CMDD
64 9003 brA 286 11301 JPF 602 8603 ETAD
65 9011 Frt 287 11940 PIC 603 8602 LFRD
110 5002 r2 340 64001 rOt 604 8605 FRHD
151 9611 OPL 400 8501 CMD 605 8604 RFRD
152 7002 IPL 401 8502 LFR 606 8607 SMIL
155 3110 FLr 402 8504 CMI 607 8608 SMIL
190 7007 drn 440 11920 rPI 608 8609 SMAL
250 3104 HSP 450 3203 FrH 609 8610 SMAL
251 3105 LSP 451 3202 rFr 610 8611 SPAL
252 9001 ACC 453 3204 LCr 611 8612 SPAL
253 9002 dEC 454 3207 ULn 612 8613 SPAT
258 9622 ItH 455 9630 tHr 613 8614 SPDL
260 9012 AC2 456 3209 tHd 614 8615 SPDL
261 9013 dE2 457 7121 LFt 615 8616 SPDT
262 11111 JGF 458 3201 ETA 991 64003 LCC
264 11410 SP2 459 3206 ETI
265 11411 SP3 460 - ETI2 (1)
(1)See the ATV28 communication variables manual.
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Code index
Code Modbus address CANopen address Name Page

AC2 9012 203C / D 2nd acceleration ramp time 34
ACC 9001 203C / 2 Acceleration ramp time 33
AdC 10401 204A / 2 Automatic standstill DC injection 35
AdCO 6051 201E / 34 CANopen: Drive address 49
Add 6001 201E / 2 Modbus: Drive address 49
AI1C 5242 2016 / 2B Value of analog input AI1 18
AI2C 5243 2016 / 2C Value of analog input AI2 18
AI3C 5244 2016 / 2D Value of analog input AI3 18
AIPC 5241 2016 / 2A Value of analog input AIP (ATV31….A drive potentiometer) 18
AO1R 5261 2016 / 3E Value of the analog output 18
AO1t 4601 2010 / 2 Configuration of the analog output 28
Atr 7122 2029 / 17 Automatic restart 46
bdCO 6053 201E / 36 CANopen: Transmission speed 49
bEn 10003 2046 / 4 Brake engage frequency threshold 42
bEt 10005 2046 / 6 Brake engage time 42
bFr 3015 2000 / 10 Standard motor frequency 25
bIP 10007 2046 / 8 Brake release pulse 42
bLC 10001 2046 / 2 Brake control configuration 42
brA 9003 203C / 4 Deceleration ramp adaptation 34
brL 10002 2046 / 3 Brake release frequency 42
brt 10004 2046 / 5 Brake release time 42
CCS 8421 2036 / 16 Control channel switching 32
Cd1 8423 2036 / 18 Configuration of control channel 1 31
Cd2 8424 2036 / 19 Configuration of control channel 2 31
CHCF 8401 2036 / 2 Mixed mode (control channels separated from reference channels) 31
CHP 8011 2032 / C Switching, motor 2 43
CL2 9203 203E / 4 2nd current limit 43
CLI 9201 203E / 2 Current limit 24
CMD 8501 2037 / 2 Control word 14
CMDD 8601 6040 DRIVECOM control word 11
CMI 8504 2037 / 5 Extended control word 15
CMI1 8541 2037 / 2A Image of Modbus extended control word 20
CMI2 8542 2037 / 2B Image of CANopen extended control word 21
COd 3003 2000 / 4 Display terminal locking code 50
COL 7011 2028 / C Stop mode in the event of a CANopen serial link fault COF 47
COP 8402 2036 / 3 Copy channel 1 to channel 2 32
COS 9606 2042 / 7 Motor Cos Phi given on the rating plate 26
COS2 9706 2043 / 7 Motor Cos Phi (motor 2) given on the rating plate 44
CrH3 4444 200E / 2D Value for high speed (HSP) on input AI3 28
CrL3 4434 200E / 23 Value for low speed (LSP) on input AI3 28
Ctd 11001 2050 / 2 Motor current threshold 24
dCF 11230 2052 / 1F Coefficient for dividing the deceleration ramp time for fast stopping 35
dCI 11203 2052 / 4 DC injection via logic input 35
dE2 9013 203C / E 2nd deceleration ramp time 34
dEC 9002 203C / 3 Deceleration ramp time 33
dO 5031 2014 / 20 Analog/logic output AOC/AOV 29
DP1 7201 202A / 2 Past fault No. 1 19
DP2 7202 202A / 3 Past fault No. 2 19
DP3 7203 202A / 4 Past fault No. 3 19
DP4 7204 202A / 5 Past fault No. 4 19
drn 7007 2028 / 8 Derated operation in the event of an overvoltage 48
dSP 11502 2055 / 3 - speed (motorized potentiometer) 39
EP1 7211 202A / C Status of past fault No. 1 20
EP2 7212 202A / D Status of past fault No. 2 20
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Code index

EP3 7213 202A / E Status of past fault No. 3 20
EP4 7214 202A / F Status of past fault No. 4 20
EPL 7006 2028 / 7 Stop mode in the event of an external fault EPF 47
ErCO 6056 201E / 39 CANopen: error word 20
ERRD 8606 603F Fault code 12
ETA 3201 2002 / 2 Status word 16
ETAD 8603 6041 DRIVECOM status word 11
EtF 7131 2029 / 20 External fault 47
ETI 3206 2002 /7 Extended status word 17
FbS 11903 2059 /4 PI feedback multiplication coefficient 40
FCS 8002 2032 /3 Return to factory settings/Restore configuration 28
FLG 9620 2042 / 15 Frequency loop gain 23
FLG2 9720 2043 / 15 Frequency loop gain, motor 2 44
FLO 8431 2036 / 20 Forced local mode 49
FLOC 8432 2036 / 21 Selection of the reference and control channel in forced local mode 49
FLr 3110 2001 /B Flying restart (automatic catching a spinning load on ramp) 46
Fr1 8413 2036 /E Configuration reference 1 30
Fr2 8414 2036 /F Configuration reference 2 30
FrH 3203 2002 / 4 Frequency reference before ramp (absolute value) 16
FRHD 8605 6043 Speed reference (signed ramp input) 12
FrS 9602 2042 / 3 Nominal motor frequency given on the rating plate 25
FrS2 9702 2043 / 3 Nominal motor frequency (motor 2) given on the rating plate 44
Frt 9011 203C / C Ramp switching threshold 34
FSt 11204 2052 / 5 Fast stop via logic input 34
Ftd 11003 2050 / 4 Motor frequency threshold 24
HSP 3104 2001 / 5 High speed 23
Ibr 10006 2046 / 7 Motor current threshold for brake release 42
IdC 11210 2052 / B Level of DC injection braking current activated via logic input or selected
35
as stop mode
InH 7125 2029 / 1A Fault inhibit 48
INV 3017 2000 / 12 Nominal drive current 22
IOLR 5240 2016 / 29 Value of logic I/O 18
IPL 7002 2028 /3 Configuration of line phase loss fault 47
ItH 9622 2042 / 17 Motor thermal protection - max. thermal current 23
JF2 11302 2053 /3 2nd skip frequency 24
JGF 11111 2051 /C Jog operation reference 39
JOG 11110 2051 / B Jog operation 39
JPF 11301 2053 / 2 Skip frequency 23
LAC 3006 2000 / 7 Function access level 30
LAF 11601 2056 / 2 Limit, forward direction 45
LAr 11602 2056 / 3 Limit, reverse direction 45
LAS 11603 2056 / 4 Type of limit switch stop 45
LC2 9202 203E / 3 Switching for second current limit 43
LCC 64003 2262 / 4 Control via remote display terminal 32
LCr 3204 2002 / 8 Current in the motor 16
LFD1 8631 2038 / 20 Image of Modbus speed reference 21
LFD2 8632 2038 / 21 Image of CANopen speed reference 21
LFF 7080 2028 / 51 Fallback speed 48
LFL 7003 2028 /4 Stop mode in the event of a loss of 4 - 20 mA signal fault LFF 48
LFr 8502 2037 /3 Frequency reference via the bus (signed value) 14
LFR1 8521 2037 / 16 Image of Modbus frequency reference 21
LFR2 8522 2037 / 17 Image of CANopen frequency reference 21
LFRD 8602 6042 Speed reference via the bus (signed value) 11
LFt 7121 2029 / 16 Last fault 19
LRS1 3250 2002 / 33 Extended status word No. 1 17
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Code index

LRS3 3252 2002 / 35 Extended status word No. 3 18
LSP 3105 2001 / 6 Low speed 23
nCr 9603 2042 / 4 Nominal motor current given on the rating plate 25
nCr2 9703 2043 / 4 Nominal motor current (motor 2) given on the rating plate 44
NCV 3011 2000 / C Drive rating 22
nrd 3107 2001 / 8 Random switching frequency 27
nSP 9604 2042 / 5 Nominal motor speed given on the rating plate 26
nSP2 9704 2043 /5 Nominal motor speed (motor 2) given on the rating plate 44
nSt 11202 2052 /3 Freewheel stop via logic input 35
OHL 7008 2028 /9 Stop mode in the event of a drive overheating fault OHF 47
OLL 7009 2028 /A Stop mode in the event of a motor overload fault OLF 47
OPL 9611 2042 /C Configuration of motor phase loss fault 47
OPr 3211 2002 /C Motor power 16
Otr 3205 2002 /6 Motor torque 16
PIC 11940 2059 / 29 Reversal of the direction of correction of the PI regulator 40
PIF 11901 2059 /2 PI regulator feedback 40
PII 11908 2059 /9 Internal PI regulator reference 41
PIR1 8531 2037 / 20 Image of Modbus PI reference 21
PIR2 8532 2037 / 21 Image of CANopen PI reference 21
PISP 8503 2037 /4 PI regulator reference via the bus 14
Pr2 11909 2059 /A 2 preset PI references 40
Pr4 11910 2059 /B 4 preset PI references 41
PS16 11404 2054 /5 16 preset speeds 38
PS2 11401 2054 /2 2 preset speeds 37
PS4 11402 2054 /3 4 preset speeds 37
PS8 11403 2054 /4 8 preset speeds 37
PSt 64002 2262 /3 Stop priority 32
r1 5001 2014 /2 Relay r1 29
r2 5002 2014 /3 Relay r2 29
rFC 8411 2036 /C Reference switching 31
rFr 3202 2002 / 3 Output frequency applied to the motor (signed value) 16
RFRD 8604 6044 Output speed (signed value) 12
rIG 11942 2059 / 2B PI regulator integral gain 40
rOt 64001 2262 / 2 Direction of operation authorized 33
rP2 11921 2059 / 16 2nd preset PI reference 41
rP3 11922 2059 / 17 3rd preset PI reference 41
rP4 11923 2059 / 18 4th preset PI reference 41
rPG 11941 2059 / 2A PI regulator proportional gain 40
rPI 11920 2059 / 15 Internal PI regulator reference 41
rPr 3120 2001 / 15 Operating time reset to zero 48
rPS 9010 203C / B Ramp switching 33
rPt 9004 203C / 5 Type of ramp 33
rrS 11105 2051 / 6 Reverse operation via logic input 28
rSC 9643 2042 / 2C Cold state stator resistance 26
rSF 7124 2029 / 19 Reset of current fault 46
rSL 11960 2059 / 3D Restart error threshold ("wake-up" threshold) 41
rtH 3231 2002 / 20 Operating time 16
SA2 11801 2058 / 2 Summing input 2 36
SA3 11802 2058 / 3 Summing input 3 36
SCS 8001 2032 / 2 Saving the configuration 27
SdC1 10403 204A / 4 Level of automatic standstill DC injection current 36
SdC2 10405 204A / 6 2nd level of standstill DC injection current 36
SdS 12001 205A / 2 USPL/USPH scale factor 25
SFr 3102 2001 / 3 Switching frequency 27
SLL 7010 2028 / B Stop mode in the event of a Modbus serial link fault SLF 47
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Code index

SLP 9625 2042 / 1A Slip compensation 23
SLP2 9725 2043 / 1A Slip compensation, motor 2 45
SMAL 8609 - 8610 6046 / 2 Max. speed 12
SMIL 8607 - 8608 6046 / 1 Min. speed 12
SP10 11418 2054 / 13 10th preset speed 38
SP2 11410 2054 /B 2nd preset speed 38
SP3 11411 2054 /C 3rd preset speed 38
SP4 11412 2054 /D 4th preset speed 38
SP5 11413 2054 /E 5th preset speed 38
SP6 11414 2054 /F 6th preset speed 38
SPAL 8611 - 8612 6048 / 1 Acceleration - Speed delta 12
SPAT 8613 6048 / 2 Acceleration - Time delta 12
SPDL 8614 - 8615 6049 / 1 Deceleration - Speed delta 13
SPDT 8616 6049 / 2 Deceleration - Time delta 13
SrF 9101 203D / 2 Suppression of the speed loop filter 27
StA 9621 2042 / 16 Frequency loop stability 23
StA2 9721 2043 / 16 Frequency loop stability, motor 2 45
StP 7004 2028 / 5 Controlled stop on mains power break 48
Str 11503 2055 / 4 Save reference 40
Stt 11201 2052 / 2 Normal stop mode 34
tA1 9005 203C / 6 Start of CUS-type acceleration ramp rounded 33
tA2 9006 203C / 7 End of CUS-type acceleration ramp rounded 33
tA3 9007 203C / 8 Start of CUS-type deceleration ramp rounded 33
tA4 9008 203C / 9 End of CUS-type deceleration ramp rounded 33
tAr 7123 2029 / 18 Max. duration of restart process 46
tbr 6003 201E / 4 Modbus: Transmission speed 49
tCC 11101 2051 / 2 2-wire/3-wire control 28
tCt 11102 2051 / 3 Type of 2-wire control 28
tdC 11211 2052 / C Total DC injection braking time selected as normal stop mode 35
tdC1 10402 204A / 3 Automatic standstill DC injection time 36
tdC2 10404 204A / 5 2nd automatic standstill DC injection time 36
TDM 3210 2002 / B Max. thermal state reached by the drive 16
tFO 6004 201E / 5 Modbus: communication format 49
tFr 3103 2001 / 4 Maximum output frequency 27
tHd 3209 2002 / A Drive thermal state 16
tHr 9630 2042 / 1F Motor thermal state 16
tLS 11701 2057 / 2 Low speed operating time 24
tnL 7012 2028 / D Configuration of auto-tuning fault tnF 48
TSP 3401 2004 / 2 Drive firmware type 22
ttd 11002 2050 / 3 Motor thermal state threshold 24
ttO 6005 201E / 6 Modbus: Time-out 49
tUn 9608 2042 / 9 Motor control auto-tuning 26
tUS 9609 2042 / A Auto-tuning status 27
UdP 3302 2000 / 4 Drive firmware version 22
UFr 9623 2042 / 18 IR compensation/Voltage boost 23
UFr2 9723 2043 / 18 IR compensation/Voltage boost, motor 2 44
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Code index

UFt 9607 2042 / 8 Selection of the type of voltage/frequency ratio 27
UFt2 9707 2043 / 8 Selection of the type of voltage/frequency ratio for motor 2 44
ULn 3207 2002 / 5 Line voltage 16
UnS 9601 2042 / 2 Nominal motor voltage given on the rating plate 25
UnS2 9701 2043 / 2 Nominal motor voltage (motor 2) given on the rating plate 43
USP 11501 2055 / 2 + speed (motorized potentiometer) 39
USPH 12003 205A / 4 Motor speed in customer units - High order 17
USPL 12002 205A / 3 Motor speed in customer units - Low order 17
VCAL 3012 2000 / D Drive voltage 22
ZON 3010 2000 / B Drive type 22
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VVDED303092 EN atv31_communication variables_EN_V1
2003-11
efesotomasyon.com

Atv31 Comm User Manual en

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Atv31 Comm User Manual en

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Altivar 31

It supplements each of the following manuals:

The communication variables are listed with:

Control and reference channels

These channels are managed:

(1)Unless the PSt parameter has been set to "NO"

DRIVECOM status chart

Key Enter the status

Examples: Examples (default configuration):

Any "Operation enabled" output except "Quick stop" = freewheel stop

Not ready to switch on (Initialization):

Switch on disabled (Configuration):

Ready to switch on and Switched on (Drive initialized):

Operation enabled (Operational):

Quick stop active (Emergency stop active):

Malfunction reaction active (Reaction on fault):

CMD control word (W8501)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

bit 7 bit 3 bit 2 bit 1 bit 0

x: State not significant

ETA status word (W3201)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

bit 6 bit 5 bit 3 bit 2 bit 1 bit 0 ETA (W3201)

x: State not significant

(1)Bit 4 of the ETA status word corresponds to DRIVECOM’s "Voltage disabled".

Function compatibility table

(1)Excluding special application with reference channel Fr2.

p Incompatible functions Compatible functions N/A

Priority functions (functions which cannot be active at the same time):

Stop functions have priority over run commands.

Logic and analog input application functions

Modbus CANopen Read/

For "Access level" LAC (page 30) = L1 or L2:

bit 11 = 0: Forward direction command

For "Access level" LAC (page 30) = L3:

These 5 bits can be assigned to functions.

Modbus CANopen Read/

0000H = "nOF": No fault saved

Modbus CANopen Read/

Modbus CANopen Read/

For "Access level" LAC (page 30) = L1 or L2:

bit 11 = 0: Forward direction command

For "Access level" LAC (page 30) = L3:

These 5 bits can be assigned to functions.

Modbus CANopen Read/

bit 15 = 0: Parameter consistency check

Modbus CANopen Read/

Total time the motor has been powered up.

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

Modbus CANopen Read/

0 = "nO": Auto-tuning not performed.

During auto-tuning the motor operates at nominal current.

Modbus CANopen Read/